Implementation of leader-follower linear consensus algorithm for coordination of multiple aircrafts

In this paper, we consider the tracking problem for leader-follower multi-agent systems under a linear consensus protocol. Our main goal is to study the real-time behavior of the algorithm when applied to a group of four holonomic Unmanned Aircraft Systems (UAS). A comprehensive analysis of the linear consensus protocol theory is presented. In our approach, the linear model of the agents are obtained by using the step response methodology, then, the models are approximated to a standard second-order model representation. The leader-follower consensus algorithm is designed and implemented for the heading and the altitude dynamics of the group of UAS. In order to prove the effectiveness of the proposed consensus algorithm we have implemented it both in simulation as well as in real-time experiments. Our work concludes with future directions of our research, which will address the issues found during the real-time tests.